#!/bin/bash

#该配置文件在/etc/rc.local中执行

#配置USB接口为host
echo host > /sys/kernel/debug/usb/fc400000.usb/mode

#启动图传SDK
if [ -d /userdata/image_tran/install ]; then
cd /userdata/image_tran/install
./start_daemon_tun_only_dev_hot-plug.sh >> /userdata/log/image_tran.log 2>&1 &
fi

#设置日志显示格式
export ROSCONSOLE_FORMAT='[${severity}] [${time:%Y-%m-%d %H:%M:%S.%f}] [${node}] ${message}'

echo host > /sys/kernel/debug/usb/fc400000.usb/mode
#core文件配置
ulimit -c unlimited
echo "/userdata/corefile/%e-%s-%u-%g-%p-%t.core">/proc/sys/kernel/core_pattern
echo "1" >/proc/sys/kernel/core_uses_pid
cd /opt/ros/noetic/
source setup.bash
roscore &
sleep 3

/userdata/start_app.sh 

#/userdata/monitor_temp.sh &


